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<div class="title">pyramid_feature_matching.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Alexandru-Eugen Ichim</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *                      Willow Garage, Inc</span></div>
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<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_IMPL_PYRAMID_FEATURE_MATCHING_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_IMPL_PYRAMID_FEATURE_MATCHING_H_</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160; </div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/console/print.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160; </div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;__inline <span class="keywordtype">float</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;Log2 (<span class="keywordtype">float</span> n_arg)</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;{</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  <span class="keywordflow">return</span> std::log (n_arg) / float (M_LN2);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;}</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160; </div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Feature&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1_pyramid_feature_histogram.html#a480e20870ce4703f41e8b8330e98d9ec">   62</a></span>&#160;<a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#a480e20870ce4703f41e8b8330e98d9ec">pcl::PyramidFeatureHistogram&lt;PointFeature&gt;::comparePyramidFeatureHistograms</a> (<span class="keyword">const</span> PyramidFeatureHistogramPtr &amp;pyramid_a,</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;                                                                             <span class="keyword">const</span> PyramidFeatureHistogramPtr &amp;pyramid_b)</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;{</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="comment">// do a few consistency checks before and during the computation</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  <span class="keywordflow">if</span> (pyramid_a-&gt;nr_dimensions != pyramid_b-&gt;nr_dimensions)</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::PyramidFeatureMatching::comparePyramidFeatureHistograms] The two given pyramids have different numbers of dimensions: %u vs %u\n&quot;</span>, pyramid_a-&gt;nr_dimensions, pyramid_b-&gt;nr_dimensions);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  }</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="keywordflow">if</span> (pyramid_a-&gt;nr_levels != pyramid_b-&gt;nr_levels)</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::PyramidFeatureMatching::comparePyramidFeatureHistograms] The two given pyramids have different numbers of levels: %u vs %u\n&quot;</span>, pyramid_a-&gt;nr_levels, pyramid_b-&gt;nr_levels);</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;  }</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="comment">// calculate for level 0 first</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <span class="keywordflow">if</span> (pyramid_a-&gt;hist_levels[0].hist.size () != pyramid_b-&gt;hist_levels[0].hist.size ())</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  {</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::PyramidFeatureMatching::comparePyramidFeatureHistograms] The two given pyramids have different numbers of bins on level 0: %u vs %u\n&quot;</span>, pyramid_a-&gt;hist_levels[0].hist.size (), pyramid_b-&gt;hist_levels[0].hist.size ());</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  }</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordtype">float</span> match_count_level = 0.0f, match_count_prev_level = 0.0f;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> bin_i = 0; bin_i &lt; pyramid_a-&gt;hist_levels[0].hist.size (); ++bin_i)</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  {</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="keywordflow">if</span> (pyramid_a-&gt;hist_levels[0].hist[bin_i] &lt; pyramid_b-&gt;hist_levels[0].hist[bin_i])</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      match_count_level += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pyramid_a-&gt;hist_levels[0].hist[bin_i]);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      match_count_level += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pyramid_b-&gt;hist_levels[0].hist[bin_i]);</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  }</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="keywordtype">float</span> match_count = match_count_level;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> level_i = 1; level_i &lt; pyramid_a-&gt;nr_levels; ++level_i)</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  {</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordflow">if</span> (pyramid_a-&gt;hist_levels[level_i].hist.size () != pyramid_b-&gt;hist_levels[level_i].hist.size ())</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    {</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      PCL_ERROR (<span class="stringliteral">&quot;[pcl::PyramidFeatureMatching::comparePyramidFeatureHistograms] The two given pyramids have different numbers of bins on level %u: %u vs %u\n&quot;</span>, level_i, pyramid_a-&gt;hist_levels[level_i].hist.size (), pyramid_b-&gt;hist_levels[level_i].hist.size ());</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <span class="keywordflow">return</span> -1;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    }</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    match_count_prev_level = match_count_level;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    match_count_level = 0.0f;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> bin_i = 0; bin_i &lt; pyramid_a-&gt;hist_levels[level_i].hist.size (); ++bin_i)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;      <span class="keywordflow">if</span> (pyramid_a-&gt;hist_levels[level_i].hist[bin_i] &lt; pyramid_b-&gt;hist_levels[level_i].hist[bin_i])</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        match_count_level += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pyramid_a-&gt;hist_levels[level_i].hist[bin_i]);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        match_count_level += <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pyramid_b-&gt;hist_levels[level_i].hist[bin_i]);</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    }</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordtype">float</span> level_normalization_factor = powf (2.0f, <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (level_i));</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    match_count += (match_count_level - match_count_prev_level) / level_normalization_factor;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;  <span class="comment">// include self-similarity factors</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;  <span class="keywordtype">float</span> self_similarity_a = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pyramid_a-&gt;nr_features),</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        self_similarity_b = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pyramid_b-&gt;nr_features);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;[pcl::PyramidFeatureMatching::comparePyramidFeatureHistograms] Self similarity measures: %f, %f\n&quot;</span>, self_similarity_a, self_similarity_b);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  match_count /= std::sqrt (self_similarity_a * self_similarity_b);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160; </div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordflow">return</span> match_count;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;}</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160; </div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Feature&gt;</div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_pyramid_feature_histogram.html#a74d4d7059f875f73e0c723be6acd93a6">  130</a></span>&#160;<a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#a74d4d7059f875f73e0c723be6acd93a6">pcl::PyramidFeatureHistogram&lt;PointFeature&gt;::PyramidFeatureHistogram</a> () :</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;  nr_dimensions (0), nr_levels (0), nr_features (0),</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  dimension_range_input_ (), dimension_range_target_ (),</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  feature_representation_ (new <a class="code" href="classpcl_1_1_default_point_representation.html">DefaultPointRepresentation</a>&lt;PointFeature&gt;),</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;  is_computed_ (false),</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  hist_levels ()</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;{</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;}</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Feature&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;<a class="code" href="classpcl_1_1_pyramid_feature_histogram.html">pcl::PyramidFeatureHistogram&lt;PointFeature&gt;::PyramidFeatureHistogramLevel::initializeHistogramLevel</a> ()</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;{</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  <span class="keywordtype">size_t</span> total_vector_size = 1;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  <span class="keywordflow">for</span> (std::vector&lt;size_t&gt;::iterator dim_it = bins_per_dimension.begin (); dim_it != bins_per_dimension.end (); ++dim_it)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    total_vector_size *= *dim_it;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;  hist.resize (total_vector_size, 0);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;}</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Feature&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classpcl_1_1_pyramid_feature_histogram.html#a3ee7c8c11ca6f63cb012c84c608ceb8b">  153</a></span>&#160;<a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#a3ee7c8c11ca6f63cb012c84c608ceb8b">pcl::PyramidFeatureHistogram&lt;PointFeature&gt;::initializeHistogram</a> ()</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;{</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  <span class="comment">// a few consistency checks before starting the computations</span></div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="keywordflow">if</span> (!<a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointFeature&gt;::initCompute</a> ())</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  {</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::PyramidFeatureHistogram::initializeHistogram] PCLBase initCompute failed\n&quot;</span>);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <span class="keywordflow">if</span> (dimension_range_input_.size () == 0)</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  {</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::PyramidFeatureHistogram::initializeHistogram] Input dimension range was not set\n&quot;</span>);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;  }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  <span class="keywordflow">if</span> (dimension_range_target_.size () == 0)</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  {</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::PyramidFeatureHistogram::initializeHistogram] Target dimension range was not set\n&quot;</span>);</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  }</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="keywordflow">if</span> (dimension_range_input_.size () != dimension_range_target_.size ())</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  {</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::PyramidFeatureHistogram::initializeHistogram] Input and target dimension ranges do not agree in size: %u vs %u\n&quot;</span>,</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;               dimension_range_input_.size (), dimension_range_target_.size ());</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;    <span class="keywordflow">return</span> <span class="keyword">false</span>;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  }</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;  nr_dimensions = dimension_range_target_.size ();</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;  nr_features = input_-&gt;points.size ();</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;  <span class="keywordtype">float</span> D = 0.0f;</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;  <span class="keywordflow">for</span> (std::vector&lt;std::pair&lt;float, float&gt; &gt;::iterator range_it = dimension_range_target_.begin (); range_it != dimension_range_target_.end (); ++range_it)</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  {</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordtype">float</span> aux = range_it-&gt;first - range_it-&gt;second;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    D += aux * aux;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;  }</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;  D = std::sqrt (D);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;  nr_levels = <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (ceilf (Log2 (D)));</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  PCL_DEBUG (<span class="stringliteral">&quot;[pcl::PyramidFeatureHistogram::initializeHistogram] Pyramid will have %u levels with a hyper-parallelepiped diagonal size of %f\n&quot;</span>, nr_levels, D);</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;  hist_levels.resize (nr_levels);</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> level_i = 0; level_i &lt; nr_levels; ++level_i)</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;  {</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;    std::vector&lt;size_t&gt; bins_per_dimension (nr_dimensions);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;    std::vector&lt;float&gt; bin_step (nr_dimensions);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> dim_i = 0; dim_i &lt; nr_dimensions; ++dim_i) </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    {</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      bins_per_dimension[dim_i] = </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (ceilf ((dimension_range_target_[dim_i].second - dimension_range_target_[dim_i].first) / (powf (2.0f, <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (level_i)) * std::sqrt (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (nr_dimensions)))));</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      bin_step[dim_i] = powf (2.0f, <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (level_i)) * std::sqrt (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (nr_dimensions));</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    }</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;    hist_levels[level_i] = <a class="code" href="structpcl_1_1_pyramid_feature_histogram_1_1_pyramid_feature_histogram_level.html">PyramidFeatureHistogramLevel</a> (bins_per_dimension, bin_step);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160; </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;[pcl::PyramidFeatureHistogram::initializeHistogram] Created vector of size %u at level %u\nwith #bins per dimension:&quot;</span>, hist_levels.back ().hist.size (), level_i);</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> dim_i = 0; dim_i &lt; nr_dimensions; ++dim_i)</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      PCL_DEBUG (<span class="stringliteral">&quot;%u &quot;</span>, bins_per_dimension[dim_i]);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;    PCL_DEBUG (<span class="stringliteral">&quot;\n&quot;</span>);</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  }</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160; </div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keywordflow">return</span> <span class="keyword">true</span>;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;}</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Feature&gt; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>&amp;</div>
<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="classpcl_1_1_pyramid_feature_histogram.html#aaca9e1756dddf35b44e6ff0cb9ad7ab5">  220</a></span>&#160;<a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#aaca9e1756dddf35b44e6ff0cb9ad7ab5">pcl::PyramidFeatureHistogram&lt;PointFeature&gt;::at</a> (std::vector&lt;size_t&gt; &amp;access,</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;                                                <span class="keywordtype">size_t</span> &amp;level)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;{</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  <span class="keywordflow">if</span> (access.size () != nr_dimensions)</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  {</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::PyramidFeatureHistogram::at] Cannot access histogram position because the access point does not have the right number of dimensions\n&quot;</span>);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    <span class="keywordflow">return</span> hist_levels.front ().hist.front ();</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  }</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  <span class="keywordflow">if</span> (level &gt;= hist_levels.size ())</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;  {</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::PyramidFeatureHistogram::at] Trying to access a too large level\n&quot;</span>);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="keywordflow">return</span> hist_levels.front ().hist.front ();</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;  }</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;  <span class="keywordtype">size_t</span> vector_position = 0;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;  <span class="keywordtype">size_t</span> dim_accumulator = 1;</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (access.size ()) - 1; i &gt;= 0; --i)</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;  {</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;    vector_position += access[i] * dim_accumulator;</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;    dim_accumulator *= hist_levels[level].bins_per_dimension[i];</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  }</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  <span class="keywordflow">return</span> hist_levels[level].hist[vector_position];</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;}</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160; </div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160; </div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Feature&gt; <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>&amp;</div>
<div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="classpcl_1_1_pyramid_feature_histogram.html#a68b0d6622251b5105597740e01587701">  249</a></span>&#160;<a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#aaca9e1756dddf35b44e6ff0cb9ad7ab5">pcl::PyramidFeatureHistogram&lt;PointFeature&gt;::at</a> (std::vector&lt;float&gt; &amp;feature,</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;                                                <span class="keywordtype">size_t</span> &amp;level)</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;{</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  <span class="keywordflow">if</span> (feature.size () != nr_dimensions)</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  {</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::PyramidFeatureHistogram::at] The given feature vector does not match the feature dimensions of the pyramid histogram: %u vs %u\n&quot;</span>, feature.size (), nr_dimensions);</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;    <span class="keywordflow">return</span> hist_levels.front ().hist.front ();</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;  }</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  <span class="keywordflow">if</span> (level &gt;= hist_levels.size ())</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;  {</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::PyramidFeatureHistogram::at] Trying to access a too large level\n&quot;</span>);</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;    <span class="keywordflow">return</span> hist_levels.front ().hist.front ();</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;  }</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  std::vector&lt;size_t&gt; access;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> dim_i = 0; dim_i &lt; nr_dimensions; ++dim_i)</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    access.push_back (<span class="keyword">static_cast&lt;</span><span class="keywordtype">size_t</span><span class="keyword">&gt;</span> (floor ((feature[dim_i] - dimension_range_target_[dim_i].first) / hist_levels[level].bin_step[dim_i])));</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;  <span class="keywordflow">return</span> at (access, level);</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;}</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160; </div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Feature&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00273"></a><span class="lineno"><a class="line" href="classpcl_1_1_pyramid_feature_histogram.html#a4f3b1fd4b8a4bcfb74148916731d93ca">  273</a></span>&#160;<a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#a4f3b1fd4b8a4bcfb74148916731d93ca">pcl::PyramidFeatureHistogram&lt;PointFeature&gt;::convertFeatureToVector</a> (<span class="keyword">const</span> PointFeature &amp;feature,</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;                                                                    std::vector&lt;float&gt; &amp;feature_vector)</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;{</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <span class="comment">// convert feature to vector representation</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  feature_vector.resize (feature_representation_-&gt;getNumberOfDimensions ());</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;  feature_representation_-&gt;vectorize (feature, feature_vector);</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160; </div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;  <span class="comment">// adapt the values from the input range to the target range</span></div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; feature_vector.size (); ++i)</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;    feature_vector[i] = (feature_vector[i] - dimension_range_input_[i].first) / (dimension_range_input_[i].second - dimension_range_input_[i].first) *</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;    (dimension_range_target_[i].second - dimension_range_target_[i].first) + dimension_range_target_[i].first;</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;}</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160; </div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Feature&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00289"></a><span class="lineno"><a class="line" href="classpcl_1_1_pyramid_feature_histogram.html#a3514e2136746a3ff2d1123fa5a5a2836">  289</a></span>&#160;<a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#a3514e2136746a3ff2d1123fa5a5a2836">pcl::PyramidFeatureHistogram&lt;PointFeature&gt;::compute</a> ()</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;{</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="keywordflow">if</span> (!initializeHistogram ())</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> feature_i = 0; feature_i &lt; input_-&gt;points.size (); ++feature_i)</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  {</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;    std::vector&lt;float&gt; feature_vector;</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;    convertFeatureToVector (input_-&gt;points[feature_i], feature_vector);</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;    addFeature (feature_vector);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  }</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  is_computed_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;}</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160; </div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Feature&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00307"></a><span class="lineno"><a class="line" href="classpcl_1_1_pyramid_feature_histogram.html#ad1ac19162a68b147fff56097cb256b3f">  307</a></span>&#160;<a class="code" href="classpcl_1_1_pyramid_feature_histogram.html#ad1ac19162a68b147fff56097cb256b3f">pcl::PyramidFeatureHistogram&lt;PointFeature&gt;::addFeature</a> (std::vector&lt;float&gt; &amp;feature)</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;{</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> level_i = 0; level_i &lt; nr_levels; ++level_i)</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    at (feature, level_i) ++;</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;}</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_PyramidFeatureHistogram(PointFeature) template class PCL_EXPORTS pcl::PyramidFeatureHistogram&lt;PointFeature&gt;;</span></div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_REGISTRATION_IMPL_PYRAMID_FEATURE_MATCHING_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_default_point_representation_html"><div class="ttname"><a href="classpcl_1_1_default_point_representation.html">pcl::DefaultPointRepresentation</a></div><div class="ttdoc">DefaultPointRepresentation extends PointRepresentation to define default behavior for common point ty...</div><div class="ttdef"><b>Definition:</b> point_representation.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html">pcl::PyramidFeatureHistogram</a></div><div class="ttdoc">Class that compares two sets of features by using a multiscale representation of the features inside ...</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_a3514e2136746a3ff2d1123fa5a5a2836"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#a3514e2136746a3ff2d1123fa5a5a2836">pcl::PyramidFeatureHistogram::compute</a></div><div class="ttdeci">void compute()</div><div class="ttdoc">The central method for inserting the feature set inside the pyramid and obtaining the complete pyrami...</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.hpp:289</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_a3ee7c8c11ca6f63cb012c84c608ceb8b"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#a3ee7c8c11ca6f63cb012c84c608ceb8b">pcl::PyramidFeatureHistogram::initializeHistogram</a></div><div class="ttdeci">bool initializeHistogram()</div><div class="ttdoc">Checks for input inconsistencies and initializes the underlying data structures</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.hpp:153</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_a480e20870ce4703f41e8b8330e98d9ec"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#a480e20870ce4703f41e8b8330e98d9ec">pcl::PyramidFeatureHistogram::comparePyramidFeatureHistograms</a></div><div class="ttdeci">static float comparePyramidFeatureHistograms(const PyramidFeatureHistogramPtr &amp;pyramid_a, const PyramidFeatureHistogramPtr &amp;pyramid_b)</div><div class="ttdoc">Static method for comparing two pyramid histograms that returns a floating point value between 0 and ...</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.hpp:62</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_a4f3b1fd4b8a4bcfb74148916731d93ca"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#a4f3b1fd4b8a4bcfb74148916731d93ca">pcl::PyramidFeatureHistogram::convertFeatureToVector</a></div><div class="ttdeci">void convertFeatureToVector(const PointFeature &amp;feature, std::vector&lt; float &gt; &amp;feature_vector)</div><div class="ttdoc">Converts a feature in templated form to an STL vector. This is the point where the conversion from th...</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.hpp:273</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_a74d4d7059f875f73e0c723be6acd93a6"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#a74d4d7059f875f73e0c723be6acd93a6">pcl::PyramidFeatureHistogram::PyramidFeatureHistogram</a></div><div class="ttdeci">PyramidFeatureHistogram()</div><div class="ttdoc">Empty constructor that instantiates the feature representation variable</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.hpp:130</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_aaca9e1756dddf35b44e6ff0cb9ad7ab5"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#aaca9e1756dddf35b44e6ff0cb9ad7ab5">pcl::PyramidFeatureHistogram::at</a></div><div class="ttdeci">unsigned int &amp; at(std::vector&lt; size_t &gt; &amp;access, size_t &amp;level)</div><div class="ttdoc">Access the pyramid bin given the position of the bin at the given pyramid level and the pyramid level</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.hpp:220</div></div>
<div class="ttc" id="aclasspcl_1_1_pyramid_feature_histogram_html_ad1ac19162a68b147fff56097cb256b3f"><div class="ttname"><a href="classpcl_1_1_pyramid_feature_histogram.html#ad1ac19162a68b147fff56097cb256b3f">pcl::PyramidFeatureHistogram::addFeature</a></div><div class="ttdeci">void addFeature(std::vector&lt; float &gt; &amp;feature)</div><div class="ttdoc">Adds a feature vector to its corresponding bin at each level in the pyramid</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.hpp:307</div></div>
<div class="ttc" id="astructpcl_1_1_pyramid_feature_histogram_1_1_pyramid_feature_histogram_level_html"><div class="ttname"><a href="structpcl_1_1_pyramid_feature_histogram_1_1_pyramid_feature_histogram_level.html">pcl::PyramidFeatureHistogram::PyramidFeatureHistogramLevel</a></div><div class="ttdoc">Structure for representing a single pyramid histogram level</div><div class="ttdef"><b>Definition:</b> pyramid_feature_matching.h:171</div></div>
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